/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2017-2020, Waterplus http://www.6-robot.com
*  All rights reserved.
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* 
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*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
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*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*********************************************************************/
/*!******************************************************************
 @author     ZhangWanjie
 ********************************************************************/
#include "RobotInfoRecv.h"

CRobotInfoRecv::CRobotInfoRecv()
{
    bFrameStart = 0;
    nParseIndex = 0;
    nLenToParse = sizeof(stRobotInfoMsg);
    m_byteLast = 0;
    arParseBuf = new unsigned char[1024];
    memset(&info_recv,0,sizeof(stRobotInfoMsg));
}

CRobotInfoRecv::~CRobotInfoRecv()
{
    delete[] arParseBuf;
}

int CRobotInfoRecv::Receive(char* inBuf, int inLen)
{
    /*显示client端的网络地址*/
    //printf("receive %d from %s\n" , inLen , inet_ntoa(addr.sin_addr));
    // printf("[UDP_Recv] ");
    // for(int i=0;i<inLen;i++)
    // {
    //     printf("%.2X ",inBuf[i]);
    // }
    // printf("\n");

    /*解析*/
    for(int i=0;i<inLen;i++)
    {
        Parse(inBuf[i]);
    }

}

void CRobotInfoRecv::Parse(unsigned char inChar)
{
    if(bFrameStart == 0)
    {
        if(m_byteLast == 0x55 && inChar == 0xaa)
        {
            bFrameStart = 1;
            arParseBuf[0] = 0x55;
            arParseBuf[1] = 0xaa;
            nParseIndex = 2;
        }
        else
        {
            m_byteLast = inChar;
        }
    }
    else
    {
        //开始缓存
        arParseBuf[nParseIndex] = inChar;
        nParseIndex ++;

        if(nParseIndex >= nLenToParse)
        {
            ParseFrame((unsigned char*)arParseBuf,nLenToParse);
            bFrameStart = 0;
            nParseIndex = 0;
            m_byteLast = 0;
        }
    }
}

void CRobotInfoRecv::ParseFrame(unsigned char* inBuf,int inLen)
{
    memcpy(&info_recv,inBuf,inLen);
    RecvNewPackage(&info_recv);
}

